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5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
7 | struct str_ToNaviCtrl ToNaviCtrl; |
7 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
- | 10 | struct str_SPI_VersionInfo SPI_VersionInfo; |
|
Line 10... | Line 11... | ||
10 | 11 | ||
11 | unsigned char SPI_BufferIndex; |
12 | unsigned char SPI_BufferIndex; |
Line 12... | Line 13... | ||
12 | unsigned char SPI_RxBufferIndex; |
13 | unsigned char SPI_RxBufferIndex; |
Line 23... | Line 24... | ||
23 | #ifdef USE_SPI_COMMUNICATION |
24 | #ifdef USE_SPI_COMMUNICATION |
Line 24... | Line 25... | ||
24 | 25 | ||
25 | //------------------------------------------------------ |
26 | //------------------------------------------------------ |
26 | void SPI_MasterInit(void) |
27 | void SPI_MasterInit(void) |
27 | { |
28 | { |
28 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
29 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
29 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | 31 | ||
31 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
32 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
32 | SPSR = 0;//(1<<SPI2X); |
33 | SPSR = 0;//(1<<SPI2X); |
33 | 34 | ||
34 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
35 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
35 | SPITransferCompleted = 1; |
36 | SPITransferCompleted = 1; |
36 | 37 | ||
37 | //SPDR = 0x00; // dummy write |
38 | //SPDR = 0x00; // dummy write |
38 | 39 | ||
39 | ToNaviCtrl.Sync1 = 0xAA; |
40 | ToNaviCtrl.Sync1 = 0xAA; |
40 | ToNaviCtrl.Sync2 = 0x83; |
41 | ToNaviCtrl.Sync2 = 0x83; |
41 | 42 | ||
42 | ToNaviCtrl.Command = SPI_CMD_USER; |
43 | ToNaviCtrl.Command = SPI_CMD_USER; |
43 | ToNaviCtrl.IntegralNick = 0; |
44 | ToNaviCtrl.IntegralNick = 0; |
44 | ToNaviCtrl.IntegralRoll = 0; |
45 | ToNaviCtrl.IntegralRoll = 0; |
- | 46 | SPI_RxDataValid = 0; |
|
- | 47 | ||
- | 48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
|
- | 49 | SPI_VersionInfo.Minor = VERSION_MINOR; |
|
- | 50 | SPI_VersionInfo.Patch = VERSION_PATCH; |
|
45 | SPI_RxDataValid = 0; |
51 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
Line 46... | Line 52... | ||
46 | } |
52 | } |
47 | 53 | ||
48 | //------------------------------------------------------ |
54 | //------------------------------------------------------ |
49 | void SPI_StartTransmitPacket(void) |
55 | void SPI_StartTransmitPacket(void) |
50 | { |
56 | { |
51 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
52 | if (!SPITransferCompleted) return; |
58 | if (!SPITransferCompleted) return; |
53 | // _delay_us(30); |
59 | // _delay_us(30); |
54 | 60 | ||
55 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
56 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
57 | 63 | ||
58 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
59 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
60 | 66 | ||
Line 61... | Line 67... | ||
61 | SPITransferCompleted = 0; |
67 | SPITransferCompleted = 0; |
62 | UpdateSPI_Buffer(); // update buffer |
68 | UpdateSPI_Buffer(); // update buffer |
63 | 69 | ||
64 | SPI_BufferIndex = 1; |
70 | SPI_BufferIndex = 1; |
65 | //ebugOut.Analog[16]++; |
71 | //ebugOut.Analog[16]++; |
66 | // -- Debug-Output --- |
72 | // -- Debug-Output --- |
67 | //---- |
73 | //---- |
68 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
74 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
69 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
70 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
76 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
Line 71... | Line 77... | ||
71 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
77 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
Line 72... | Line 78... | ||
72 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
73 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
74 | 80 | ||
75 | } |
81 | } |
76 | 82 | ||
77 | //------------------------------------------------------ |
83 | //------------------------------------------------------ |
78 | //SIGNAL(SIG_SPI) |
84 | //SIGNAL(SIG_SPI) |
79 | void SPI_TransmitByte(void) |
85 | void SPI_TransmitByte(void) |
80 | { |
86 | { |
81 | static unsigned char SPI_RXState = 0; |
87 | static unsigned char SPI_RXState = 0; |
82 | unsigned char rxdata; |
88 | unsigned char rxdata; |
83 | static unsigned char rxchksum; |
89 | static unsigned char rxchksum; |
84 | 90 | ||
85 | if (SPITransferCompleted) return; |
91 | if (SPITransferCompleted) return; |
86 | if (!(SPSR & (1 << SPIF))) return; |
92 | if (!(SPSR & (1 << SPIF))) return; |
87 | SendSPI = 4; |
93 | SendSPI = 4; |
88 | 94 | ||
89 | // _delay_us(30); |
95 | // _delay_us(30); |
90 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
91 | 97 | ||
92 | rxdata = SPDR; |
98 | rxdata = SPDR; |
93 | switch ( SPI_RXState) |
99 | switch ( SPI_RXState) |
94 | { |
100 | { |
95 | case 0: |
101 | case 0: |
96 | 102 | ||
97 | SPI_RxBufferIndex = 0; |
103 | SPI_RxBufferIndex = 0; |
Line 98... | Line 104... | ||
98 | //DebugOut.Analog[17]++; |
104 | //DebugOut.Analog[17]++; |
99 | rxchksum = rxdata; |
105 | rxchksum = rxdata; |
100 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
101 | 107 | ||
102 | break; |
108 | break; |
103 | 109 | ||
104 | case 1: |
110 | case 1: |
105 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
106 | else SPI_RXState = 0; |
112 | else SPI_RXState = 0; |
107 | //DebugOut.Analog[18]++; |
113 | //DebugOut.Analog[18]++; |
108 | break; |
114 | break; |
109 | 115 | ||
110 | case 2: |
116 | case 2: |
111 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
112 | //DebugOut.Analog[19]++; |
118 | //DebugOut.Analog[19]++; |
113 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
114 | { |
120 | { |
115 | 121 | ||
116 | if (rxdata == rxchksum) |
122 | if (rxdata == rxchksum) |
117 | { |
123 | { |
118 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
119 | 125 | ||
120 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
121 | 127 | ||
122 | SPI_RxDataValid = 1; |
128 | SPI_RxDataValid = 1; |
123 | } |
129 | } |
124 | else SPI_RxDataValid = 0; |
130 | else SPI_RxDataValid = 0; |
125 | 131 | ||
126 | SPI_RXState = 0; |
132 | SPI_RXState = 0; |
127 | } |
133 | } |
128 | else rxchksum += rxdata; |
134 | else rxchksum += rxdata; |
129 | break; |
135 | break; |
130 | 136 | ||
131 | } |
137 | } |
132 | 138 | ||
133 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
134 | { |
140 | { |
135 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
136 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
Line 137... | Line 143... | ||
137 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
138 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
144 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
139 | 145 | ||
140 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
141 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
147 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
Line 142... | Line 148... | ||
142 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
143 | 149 | ||
144 | } |
150 | } |
145 | else SPITransferCompleted = 1; |
151 | else SPITransferCompleted = 1; |
146 | 152 | ||
147 | SPI_BufferIndex++; |
153 | SPI_BufferIndex++; |
148 | } |
154 | } |
149 | 155 | ||
150 | 156 | ||
151 | //------------------------------------------------------ |
157 | //------------------------------------------------------ |
152 | void UpdateSPI_Buffer(void) |
158 | void UpdateSPI_Buffer(void) |
153 | { |
159 | { |
154 | static unsigned char i =0; |
160 | static unsigned char i =0; |
155 | signed int tmp; |
161 | signed int tmp; |
156 | cli(); |
162 | cli(); |
Line 157... | Line 163... | ||
157 | 163 | ||
158 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
159 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
160 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
166 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
161 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
167 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
162 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
168 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
163 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
164 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
Line 179... | Line 185... | ||
179 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
180 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
181 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
182 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
183 | break; |
189 | break; |
184 | case SPI_CMD_PARAMETER1: |
190 | case SPI_CMD_PARAMETER1: |
185 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
186 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
187 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
188 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
189 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
190 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
191 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
192 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
193 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
194 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
195 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
196 | break; |
202 | break; |
197 | case SPI_CMD_STICK: |
203 | case SPI_CMD_STICK: |
198 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
204 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
199 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
205 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
200 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
206 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
201 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
207 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
202 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
208 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
Line 208... | Line 214... | ||
208 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
214 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
209 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
215 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
210 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
216 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
211 | break; |
217 | break; |
212 | case SPI_CMD_MISC: |
218 | case SPI_CMD_MISC: |
213 | if(WinkelOut.CalcState > 5) |
219 | if(WinkelOut.CalcState > 5) |
214 | { |
220 | { |
215 | WinkelOut.CalcState = 0; |
221 | WinkelOut.CalcState = 0; |
216 | ToNaviCtrl.Param.Byte[0] = 5; |
222 | ToNaviCtrl.Param.Byte[0] = 5; |
217 | } |
223 | } |
218 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
224 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
219 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
225 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
220 | break; |
226 | break; |
Line 221... | Line 227... | ||
221 | 227 | ||
222 | case SPI_CMD_VERSION: |
228 | case SPI_CMD_VERSION: |
223 | ToNaviCtrl.Param.Byte[0] = VersionInfo.Hauptversion; |
229 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
224 | ToNaviCtrl.Param.Byte[1] = VersionInfo.Nebenversion; |
- | |
225 | ToNaviCtrl.Param.Byte[2] = VersionInfo.PCKompatibel; |
230 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
226 | ToNaviCtrl.Param.Byte[3] = VersionInfo.Patch; |
231 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
227 | ToNaviCtrl.Param.Byte[4] = VersionInfo.NaviKompatibel; |
232 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
228 | break; |
233 | break; |
229 | } |
234 | } |
230 | 235 | ||
231 | sei(); |
236 | sei(); |
232 | 237 | ||
233 | if (SPI_RxDataValid) |
238 | if (SPI_RxDataValid) |
234 | { |
239 | { |
235 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
240 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
236 | { |
241 | { |
237 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
242 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
238 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
243 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
239 | } |
244 | } |
240 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
245 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
241 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
246 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
242 | 247 | ||
243 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
248 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
244 | 249 | ||
245 | switch (FromNaviCtrl.Command) |
250 | switch (FromNaviCtrl.Command) |
246 | { |
251 | { |
247 | case SPI_KALMAN: |
252 | case SPI_KALMAN: |
248 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
253 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
249 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
254 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
250 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
255 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
251 | break; |
256 | break; |
252 | 257 | ||
253 | case SPI_CMD_OSD_DATA: |
258 | case SPI_CMD_OSD_DATA: |
254 | FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0]; |
259 | FromNaviCtrl_Value.OsdBar = FromNaviCtrl.Param.Byte[0]; |
255 | FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1]; |
260 | FromNaviCtrl_Value.Distance = FromNaviCtrl.Param.Int[1]; |
Line 271... | Line 276... | ||
271 | } |
276 | } |
272 | else |
277 | else |
273 | { |
278 | { |
274 | // KompassValue = 0; |
279 | // KompassValue = 0; |
275 | // KompassRichtung = 0; |
280 | // KompassRichtung = 0; |
276 | 281 | ||
277 | GPS_Nick = 0; |
282 | GPS_Nick = 0; |
278 | GPS_Roll = 0; |
283 | GPS_Roll = 0; |
279 | } |
284 | } |
280 | } |
285 | } |